separate sdf incwaveheight points from service call; allow service to…

… request points in relative_time to current sim time Signed-off-by: Michael Anderson <[email protected]>
osrf · Sep 6, 2023 · 17310e4 · 17310e4
1 parent 7d87e1f
commit 17310e4
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diff --git a/buoy_interfaces/msg/IncWaveHeight.msg b/buoy_interfaces/msg/IncWaveHeight.msg
@@ -1,6 +1,11 @@
+# relative_time is the time height was computed in decimal seconds
+# relative to simulation time in pose header.stamp
+float64 relative_time
+
 # x, y is relative to buoy origin; otherwise world origin
 bool use_buoy_origin
 
-# position = x, y, height
+# header.stamp = simulation time
+# position = x, y, z(height)
 # orientation = normal vector (slope of wave) at position
-geometry_msgs/Pose pose
+geometry_msgs/PoseStamped pose
diff --git a/buoy_interfaces/srv/IncWaveHeight.srv b/buoy_interfaces/srv/IncWaveHeight.srv
@@ -1,15 +1,18 @@
 # IncWaveHeight Request
 
-# x, y to evaluate height
-geometry_msgs/Point[] points
+# relative_time in decimal seconds to evaluate height at time relative to now (0)
+# (Note: may be in future)
+float64 relative_time
 
 # x, y is relative to buoy origin; otherwise world origin
 bool use_buoy_origin
 
+# x, y to evaluate height
+geometry_msgs/Point[] points
+
 ---
 
 # IncWaveHeight Response
 
-builtin_interfaces/Time stamp
 IncWaveHeight[] heights
 bool valid